version: 66.13
glider: 137
mission: 5
dive: 178
start: 4 8 117 23 31 19
data:
$ID,137
$MISSION,5
$DIVE,178
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,8
$CALL_WAIT,120
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-84.34626
$PRESSURE_SLOPE,0.0001160319
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,080417,232525,1320.5740,6037.7915,29,0.9,50,-0.7,0.9,278.2,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.9
$GPS2,080417,233029,1320.5919,6037.7319,8,0.9,20,-0.7,0.0,279.3,9,9.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1318.420,6034.882
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,225.1,6524,-18.9,-10.000,-21.35,1741
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.40,-113.3,88,2083,329,561,0.0,0.0,0,103,0.00,0.00,-93.28,0.000,16386,0.000,0.000,88,2083,2921,2840,3002,0,0,0,0,0,0,14.85,28.83,14.88
$GC,106,-1.44,-146.0,87,2083,2841,3002,4.2,-5.2,16,137,13.30,2.72,-8.82,0.000,18980,0.396,2.081,2854,655,3388,3275,3502,0,0,0,0,0,0,14.31,13.35,14.52
$GC,240,-1.44,-146.0,2854,655,3277,3502,28.0,-13.5,41,247,0.00,2.28,0.00,0.000,1030,0.000,0.038,2846,2034,3389,3277,3502,0,0,0,0,0,0,14.70,14.63,14.71
$GC,549,-1.44,-146.0,2845,2034,3277,3502,73.0,-14.9,87,558,0.00,2.35,0.00,0.000,516,0.000,0.055,2846,644,3389,3277,3502,0,0,0,0,0,0,14.97,14.69,15.00
$GC,590,-1.44,-146.0,2845,643,3277,3502,79.0,-14.3,95,595,0.12,2.30,0.00,0.000,3078,0.267,0.041,2861,2051,3389,3277,3502,0,0,0,0,0,0,14.50,14.72,14.72
$GC,896,-1.49,-146.0,2861,2051,3278,3503,116.0,-14.1,126,905,0.00,2.33,0.00,0.000,388,0.000,0.058,2853,3458,3390,3278,3503,0,0,0,0,0,0,15.03,14.69,15.05
$GC,950,-1.63,-146.0,2852,3458,3278,3502,124.9,-15.0,137,959,0.12,2.33,0.00,0.000,5254,0.118,0.037,2803,2037,3390,3277,3503,0,0,0,0,0,0,14.77,14.78,14.84
$GC,1258,-1.63,-146.0,2803,2036,3278,3503,155.7,-8.2,168,1267,0.00,2.30,0.00,0.000,548,0.000,0.058,2803,648,3390,3278,3502,0,0,0,0,0,0,15.07,14.76,15.08
$GC,1419,-1.63,-146.0,2802,648,3278,3502,172.7,-11.7,200,1424,0.12,2.28,0.00,0.000,3078,0.273,0.038,2818,2054,3390,3278,3502,0,0,0,0,0,0,14.57,14.81,14.79
$GC,1725,-1.69,-146.0,2818,2054,3278,3502,214.1,-11.6,231,1727,0.00,0.00,0.00,0.000,134,0.000,0.000,2818,2054,3390,3278,3502,0,0,0,0,0,0,15.06,15.08,15.07
$GC,2026,-1.75,-146.0,2817,2054,3278,3502,246.2,-10.8,261,2032,0.12,2.35,0.00,0.000,4740,0.151,0.056,2774,651,3390,3278,3502,0,0,0,0,0,0,14.76,14.77,14.81
$GC,2079,-1.75,-146.0,2774,651,3278,3502,253.5,-14.3,271,2084,0.15,2.28,0.00,0.000,3078,0.282,0.039,2794,2049,3391,3279,3503,0,0,0,0,0,0,14.54,14.81,14.78
$GC,2394,-1.78,-146.0,2793,2049,3278,3502,291.5,-11.6,283,2399,0.00,2.33,0.00,0.000,388,0.000,0.060,2785,3449,3390,3278,3502,0,0,0,0,0,0,15.08,14.78,15.10
$GC,2452,-1.83,-146.0,2785,3449,3278,3502,298.5,-12.0,294,2460,0.00,2.30,0.00,0.000,1158,0.000,0.039,2786,2047,3390,3278,3502,0,0,0,0,0,0,14.89,14.82,14.91
$GC,2757,-1.83,-146.0,2786,2047,3278,3502,337.0,-13.1,305,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2047,3390,3278,3502,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3059,-1.83,-146.0,2785,2046,3278,3502,375.3,-12.8,315,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2047,3390,3278,3502,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3357,-1.83,-146.0,2785,2046,3277,3500,413.4,-12.4,325,3363,0.00,2.38,0.00,0.000,260,0.000,0.063,2776,3439,3388,3277,3499,0,0,0,0,0,0,15.09,14.78,15.11
$GC,3402,-1.88,-146.0,2776,3439,3277,3499,418.9,-11.1,333,3407,0.00,2.30,0.00,0.000,1158,0.000,0.041,2776,2043,3388,3277,3499,0,0,0,0,0,0,14.90,14.82,14.92
$GC,3727,-1.88,-146.0,2775,2043,3275,3497,455.5,-11.1,347,3731,0.00,2.40,0.00,0.000,260,0.000,0.063,2766,3449,3385,3275,3496,0,0,0,0,0,0,15.09,14.77,15.11
$GC,3779,-1.92,-146.0,2766,3449,3275,3496,461.9,-12.0,357,3786,0.00,2.33,0.00,0.000,1158,0.000,0.040,2766,2039,3385,3275,3496,0,0,0,0,0,0,14.89,14.82,14.91
$GC,4094,-1.92,-146.0,2766,2039,3273,3495,499.6,-12.3,369,4102,0.00,2.40,0.00,0.000,260,0.000,0.063,2756,3444,3383,3273,3494,0,0,0,0,0,0,15.08,14.77,15.11
$GC,4129,-1.92,-146.0,2756,3444,3273,3493,504.1,-12.0,375,4135,0.00,2.30,0.00,0.000,1030,0.000,0.040,2756,2044,3383,3273,3493,0,0,0,0,0,0,14.82,14.78,14.85
$GC,4463,-1.92,-146.0,2756,2044,3272,3492,545.7,-12.5,391,4468,0.00,2.40,0.00,0.000,260,0.000,0.062,2746,3449,3381,3271,3492,0,0,0,0,0,0,15.08,14.76,15.10
$GC,4528,-1.92,-146.0,2746,3449,3271,3490,554.0,-13.5,403,4532,0.00,2.33,0.00,0.000,1030,0.000,0.041,2746,2042,3380,3271,3490,0,0,0,0,0,0,14.88,14.81,14.90
$GC,4861,-1.89,-146.0,2746,2042,3270,3489,602.6,-15.1,419,4866,0.00,2.40,0.00,0.000,388,0.000,0.064,2736,3440,3378,3269,3488,0,0,0,0,0,0,15.08,14.75,15.10
$GC,4895,-1.85,-146.0,2736,3440,3270,3487,607.7,-14.3,425,4901,0.15,2.33,0.00,0.000,3206,0.263,0.044,2767,2042,3378,3270,3486,0,0,0,0,0,0,14.48,14.79,14.77
$GC,5230,-1.85,-146.0,2767,2042,3267,3487,650.6,-12.2,441,5236,0.00,2.35,0.00,0.000,516,0.000,0.066,2768,651,3377,3267,3487,0,0,0,0,0,0,15.09,14.75,15.11
$GC,5302,-1.85,-146.0,2767,651,3267,3487,660.4,-12.7,455,5309,0.00,2.33,0.00,0.000,1030,0.000,0.047,2759,2045,3376,3267,3486,0,0,0,0,0,0,14.86,14.78,14.89
$GC,5628,-1.85,-146.0,2758,2045,3266,3485,699.8,-11.9,469,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2044,3376,3266,3486,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5928,-1.85,-146.0,2759,2044,3266,3484,734.3,-11.4,479,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2045,3375,3265,3485,0,0,0,0,0,0,15.07,15.10,15.10
$GC,6228,-1.85,-146.0,2759,2044,3264,3483,773.6,-13.7,489,6235,0.00,2.40,0.00,0.000,260,0.000,0.067,2749,3458,3372,3263,3482,0,0,0,0,0,0,15.08,14.73,15.10
$GC,6253,-1.85,-146.0,2749,3458,3263,3482,777.4,-14.8,493,6259,0.10,2.35,0.00,0.000,3078,0.267,0.046,2767,2055,3373,3264,3482,0,0,0,0,0,0,14.52,14.77,14.76
$GC,6569,-1.85,-146.0,2766,2055,3263,3481,821.1,-14.0,505,6574,0.00,2.40,0.00,0.000,516,0.000,0.067,2767,641,3371,3262,3481,0,0,0,0,0,0,15.09,14.73,15.11
$GC,6596,-1.85,-146.0,2767,641,3262,3481,825.5,-14.5,510,6604,0.00,2.38,0.00,0.000,1030,0.000,0.050,2758,2052,3371,3262,3481,0,0,0,0,0,0,14.85,14.76,14.88
$GC,6904,-1.85,-146.0,2758,2052,3261,3479,866.0,-12.7,521,6910,0.00,2.38,0.00,0.000,260,0.000,0.067,2748,3452,3370,3261,3479,0,0,0,0,0,0,15.09,14.72,15.11
$GC,6956,-1.85,-146.0,2748,3451,3261,3479,873.0,-12.7,531,6964,0.12,2.35,0.00,0.000,3078,0.265,0.046,2773,2050,3369,3261,3478,0,0,0,0,0,0,14.47,14.76,14.73
$GC,7271,-1.85,-146.0,2772,2050,3260,3479,907.6,-10.9,543,7278,0.00,2.40,0.00,0.000,516,0.000,0.067,2773,637,3369,3260,3479,0,0,0,0,0,0,15.07,14.72,15.09
$GC,7300,-1.85,-146.0,2772,636,3260,3478,911.2,-11.7,548,7307,0.00,2.38,0.00,0.000,1030,0.000,0.047,2764,2053,3369,3260,3478,0,0,0,0,0,0,14.85,14.76,14.88
$GC,7607,-1.85,-146.0,2764,2053,3259,3476,946.5,-12.0,559,7612,0.00,2.45,0.00,0.000,516,0.000,0.067,2764,636,3368,3259,3477,0,0,0,0,0,0,15.08,14.71,15.10
$GC,7645,-1.85,-146.0,2764,636,3258,3477,951.7,-13.5,566,7650,0.00,2.38,0.00,0.000,1030,0.000,0.050,2754,2049,3368,3259,3477,0,0,0,0,0,0,14.84,14.75,14.87
$STATE,7941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7941,begin apogee
$GC,7946,-0.33,0.0,2754,1790,3258,3477,990.5,-13.1,580,8079,1.33,0.00,129.02,2.702,10246,0.259,0.000,3097,1788,2789,2676,2903,0,0,0,0,0,0,14.41,14.02,13.00
$STATE,8080,end apogee,CONTROL_FINISHED_OK
$STATE,8080,begin climb
$GC,8082,1.44,146.0,3097,1788,2670,2899,993.9,0.0,584,8226,1.30,2.65,133.65,2.660,10756,0.151,0.081,3495,401,2188,2059,2317,0,0,0,0,0,0,14.01,13.85,12.85
$GC,8251,1.22,146.0,3494,401,2049,2317,982.2,14.2,617,8257,0.28,2.47,0.00,0.000,5254,0.358,0.047,3445,1805,2182,2048,2316,0,0,0,0,0,0,13.86,14.07,14.12
$GC,8575,1.11,146.0,3445,1805,2041,2317,942.1,12.9,631,8577,0.15,0.00,0.00,0.000,4230,0.409,0.000,3420,1805,2179,2041,2317,0,0,0,0,0,0,14.21,14.61,14.56
$GC,8874,1.04,146.0,3420,1805,2038,2317,905.2,12.1,641,8879,0.00,2.53,0.00,0.000,644,0.000,0.080,3429,393,2177,2038,2317,0,0,0,0,0,0,14.93,14.62,14.95
$GC,8890,0.96,146.0,3429,393,2037,2317,903.5,11.8,644,8895,0.20,2.40,0.00,0.000,5254,0.341,0.050,3390,1801,2176,2036,2316,0,0,0,0,0,0,14.33,14.66,14.67
$GC,9202,0.96,146.0,3390,1801,2035,2316,870.7,10.3,656,9209,0.00,2.40,0.00,0.000,260,0.000,0.065,3386,3213,2176,2035,2317,0,0,0,0,0,0,14.99,14.69,15.02
$GC,9262,0.96,146.0,3385,3213,2035,2316,864.6,10.7,668,9266,0.00,2.40,0.00,0.000,1030,0.000,0.057,3394,1810,2175,2035,2316,0,0,0,0,0,0,14.78,14.69,14.81
$GC,9589,0.97,150.8,3394,1810,2034,2316,832.9,9.7,683,9595,0.00,2.40,0.00,0.000,292,0.000,0.065,3394,3203,2175,2034,2316,0,0,0,0,0,0,15.02,14.71,15.05
$GC,9648,0.93,150.8,3394,3203,2034,2316,826.8,10.6,695,9656,0.12,2.40,0.00,0.000,5254,0.365,0.056,3382,1790,2175,2034,2317,0,0,0,0,0,0,14.38,14.72,14.70
$GC,9979,0.95,163.1,3382,1790,2034,2317,796.2,9.3,711,9998,0.00,2.45,13.73,2.300,8484,0.000,0.065,3373,3212,2120,1979,2261,0,0,0,0,0,0,15.04,14.53,13.72
$GC,10018,0.95,165.8,3373,3212,1979,2258,792.2,9.8,719,10023,0.00,2.42,0.00,0.000,1062,0.000,0.057,3382,1799,2118,1979,2258,0,0,0,0,0,0,14.74,14.66,14.76
$GC,10330,0.96,178.5,3382,1798,1975,2257,763.1,9.3,731,10352,0.00,2.53,14.68,2.259,8484,0.000,0.067,3382,3205,2057,1916,2198,0,0,0,0,0,0,14.98,14.60,13.67
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$STATE,17317,end climb,SURFACE_DEPTH_REACHED
$STATE,17317,begin surface coast
$FINISH,1.4,1.010435
$STATE,17350,end surface coast,CONTROL_FINISHED_OK
$STATE,17350,begin surface
$SM_CCo,17368,98.65,0.080,0,0,448,573.99
$SM_GC,2.49,9.98,0.40,98.65,0.081,0.057,0.080,93,2069,448,-14.12,-1.05,573.99,0,0,0,0,0,0,14.62,14.71,14.60
$IRIDIUM_FIX,1316.45,6041.43,080417,180515
$TT8_MAMPS,0.023968,0.15729
$HUMID,48.54
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,12.85,62.392
$10V_AH,13.21,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.850,188.225,439.175,98.650,0.000,0.000,0.000,201.950,91.250,0.000,21.859,2809.843,11673.201,729.985,2372.828,203.493,0.000,2068.539,0.000,1881.839,0.000,604.566,0.000
$DEVICE_MAMPS,409.275,2080.800,2701.980,80.325,0.000,0.000,0.000,182.835,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225048
$DATA_FILE_SIZE,56764,1322
$CAP_FILE_SIZE,202024,0
$CFSIZE,260034560,244596736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,11070.27,0x233da8,1,24
$CURRENT,0.070,321.05,1
$GPS,090417,042344,1319.344,6035.594,28,0.9,41,-0.7,0.5,237.9,8,9.3